Surgical operation robot multiple degree of freedom finger

The invention provides a surgical operation robot multiple degree of freedom (MDOF) finger. The finger is composed of a fingertip clamping mechanism, a joint driving mechanism and a rotating joint; the fingertip clamping mechanism is composed of two fingertips, two transmission ropes, a connection shaft and a long casing pipe, and the fingertips are provided with pulley grooves; the joint drivingmechanism comprises a support bracket, the front end of the support bracket is connected with the fingertip clamping mechanism, the back end of the support bracket is provided with a stepped shaft, the support bracket is provided with two drive motors, the shaft of each drive motor is mounted with a driving wheel, and the transmission ropes of the fingertip clamping mechanism are winded on the driving wheels to drive the pulley grooves on the fingertips; and the rotating joint comprises a motor jacket and a rotating motor mounted in the motor jacket, the stepped shaft of the support bracket in the joint driving mechanism is arranged in the motor jacket via the bearing arranged on the stepped shaft and is connected with the shaft of the rotating motor to transmit torque. The invention has the characteristics of capability of pitching, autorotation, and clamping DOF, good flexibility, small surgical orifice and remarkable alleviation on pain of patients.